| Abstrakt: |
This paper presents the design of the deictic functionalities for the navigation of a semi-autonomous powered wheelchair driven by a person with disability. Such functionalities, primarily based on a command by vision and a control by laser, offer an ergonomic mode of control to the user. The first functionality implemented is an automatic passing through narrow passages. The user must point the objective to be passed through, on an interface presenting an image of the environment. Then, the wheelchair moves in autonomous mode. Firstly, we describe the controlling mode for the wheelchair, the perception of the environment, the user interface and the means of path following. Then, we present and comment the results obtained during the experimental tests. [ABSTRACT FROM AUTHOR] |
